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This commit is contained in:
Crozet Sébastien
2021-04-30 11:37:58 +02:00
parent ac8ec8e351
commit 2dfbd9ae92
16 changed files with 440 additions and 164 deletions
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137
src/dynamics/rigid_body.rs
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@@ -7,8 +7,8 @@ use crate::geometry::{
Collider, ColliderHandle, ColliderMassProperties, ColliderParent, ColliderPosition,
ColliderShape,
};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Translation, Vector};
use crate::utils::{self, WAngularInertia, WCross};
use crate::math::{AngVector, Isometry, Point, Real, Rotation, Vector};
use crate::utils::{self, WCross};
use na::ComplexField;
use num::Zero;
@@ -18,21 +18,21 @@ use num::Zero;
/// To create a new rigid-body, use the `RigidBodyBuilder` structure.
#[derive(Debug, Clone)]
pub struct RigidBody {
pub rb_pos: RigidBodyPosition, // TODO ECS: public only for initial tests with bevy_rapier.
pub rb_mprops: RigidBodyMassProps, // TODO ECS: public only for initial tests with bevy_rapier.
pub rb_vels: RigidBodyVelocity, // TODO ECS: public only for initial tests with bevy_rapier.
pub rb_damping: RigidBodyDamping, // TODO ECS: public only for initial tests with bevy_rapier.
pub rb_forces: RigidBodyForces, // TODO ECS: public only for initial tests with bevy_rapier.
pub rb_ccd: RigidBodyCcd, // TODO ECS: public only for initial tests with bevy_rapier.
pub rb_ids: RigidBodyIds, // TODO ECS: public only for initial tests with bevy_rapier.
pub rb_colliders: RigidBodyColliders, // TODO ECS: public only for initial tests with bevy_rapier.
pub(crate) rb_pos: RigidBodyPosition,
pub(crate) rb_mprops: RigidBodyMassProps,
pub(crate) rb_vels: RigidBodyVelocity,
pub(crate) rb_damping: RigidBodyDamping,
pub(crate) rb_forces: RigidBodyForces,
pub(crate) rb_ccd: RigidBodyCcd,
pub(crate) rb_ids: RigidBodyIds,
pub(crate) rb_colliders: RigidBodyColliders,
/// Whether or not this rigid-body is sleeping.
pub rb_activation: RigidBodyActivation, // TODO ECS: public only for initial tests with bevy_rapier.
pub changes: RigidBodyChanges, // TODO ECS: public only for initial tests with bevy_rapier.
pub(crate) rb_activation: RigidBodyActivation,
pub(crate) changes: RigidBodyChanges,
/// The status of the body, governing how it is affected by external forces.
pub rb_type: RigidBodyType, // TODO ECS: public only for initial tests with bevy_rapier
pub(crate) rb_type: RigidBodyType,
/// The dominance group this rigid-body is part of.
pub rb_dominance: RigidBodyDominance,
pub(crate) rb_dominance: RigidBodyDominance,
/// User-defined data associated to this rigid-body.
pub user_data: u128,
}
@@ -61,61 +61,48 @@ impl RigidBody {
self.rb_ids = Default::default();
}
pub fn user_data(&self) -> u128 {
self.user_data
}
pub fn set_user_data(&mut self, data: u128) {
self.user_data = data;
}
#[inline]
pub fn rb_activation(&self) -> &RigidBodyActivation {
/// The activation status of this rigid-body.
pub fn activation(&self) -> &RigidBodyActivation {
&self.rb_activation
}
#[inline]
/// Mutable reference to the activation status of this rigid-body.
pub fn activation_mut(&mut self) -> &mut RigidBodyActivation {
self.changes |= RigidBodyChanges::SLEEP;
&mut self.rb_activation
}
#[inline]
pub(crate) fn changes(&self) -> RigidBodyChanges {
self.changes
}
#[inline]
pub(crate) fn changes_mut_internal(&mut self) -> &mut RigidBodyChanges {
&mut self.changes
}
/// The linear damping coefficient of this rigid-body.
#[inline]
pub fn linear_damping(&self) -> Real {
self.rb_damping.linear_damping
}
/// Sets the linear damping coefficient of this rigid-body.
#[inline]
pub fn set_linear_damping(&mut self, damping: Real) {
self.rb_damping.linear_damping = damping;
}
/// The angular damping coefficient of this rigid-body.
#[inline]
pub fn angular_damping(&self) -> Real {
self.rb_damping.angular_damping
}
/// Sets the angular damping coefficient of this rigid-body.
#[inline]
pub fn set_angular_damping(&mut self, damping: Real) {
self.rb_damping.angular_damping = damping
}
/// The status of this rigid-body.
pub fn rb_type(&self) -> RigidBodyType {
/// The type of this rigid-body.
pub fn body_type(&self) -> RigidBodyType {
self.rb_type
}
/// Sets the status of this rigid-body.
pub fn set_rb_type(&mut self, status: RigidBodyType) {
/// Sets the type of this rigid-body.
pub fn set_body_type(&mut self, status: RigidBodyType) {
if status != self.rb_type {
self.changes.insert(RigidBodyChanges::TYPE);
self.rb_type = status;
@@ -336,22 +323,6 @@ impl RigidBody {
!self.rb_vels.linvel.is_zero() || !self.rb_vels.angvel.is_zero()
}
/// Computes the predict position of this rigid-body after `dt` seconds, taking
/// into account its velocities and external forces applied to it.
pub fn predict_position_using_velocity_and_forces(&self, dt: Real) -> Isometry<Real> {
let dlinvel = self.rb_forces.force * (self.rb_mprops.effective_inv_mass * dt);
let dangvel = self
.rb_mprops
.effective_world_inv_inertia_sqrt
.transform_vector(self.rb_forces.torque * dt);
let linvel = self.rb_vels.linvel + dlinvel;
let angvel = self.rb_vels.angvel + dangvel;
let com = self.rb_pos.position * self.rb_mprops.mass_properties.local_com;
let shift = Translation::from(com.coords);
shift * Isometry::new(linvel * dt, angvel * dt) * shift.inverse() * self.rb_pos.position
}
/// The linear velocity of this rigid-body.
pub fn linvel(&self) -> &Vector<Real> {
&self.rb_vels.linvel
@@ -567,30 +538,13 @@ impl RigidBody {
impl RigidBody {
/// The velocity of the given world-space point on this rigid-body.
pub fn velocity_at_point(&self, point: &Point<Real>) -> Vector<Real> {
let dpt = point - self.rb_mprops.world_com;
self.rb_vels.linvel + self.rb_vels.angvel.gcross(dpt)
self.rb_vels
.velocity_at_point(point, &self.rb_mprops.world_com)
}
/// The kinetic energy of this body.
pub fn kinetic_energy(&self) -> Real {
let mut energy = (self.mass() * self.rb_vels.linvel.norm_squared()) / 2.0;
#[cfg(feature = "dim2")]
if !self.rb_mprops.effective_world_inv_inertia_sqrt.is_zero() {
let inertia_sqrt = 1.0 / self.rb_mprops.effective_world_inv_inertia_sqrt;
energy += (inertia_sqrt * self.rb_vels.angvel).powi(2) / 2.0;
}
#[cfg(feature = "dim3")]
if !self.rb_mprops.effective_world_inv_inertia_sqrt.is_zero() {
let inertia_sqrt = self
.rb_mprops
.effective_world_inv_inertia_sqrt
.inverse_unchecked();
energy += (inertia_sqrt * self.rb_vels.angvel).norm_squared() / 2.0;
}
energy
self.rb_vels.kinetic_energy(&self.rb_mprops)
}
/// The potential energy of this body in a gravity field.
@@ -894,39 +848,6 @@ impl RigidBodyBuilder {
self
}
pub fn components(
&self,
) -> (
RigidBodyPosition,
RigidBodyMassProps,
RigidBodyVelocity,
RigidBodyDamping,
RigidBodyForces,
RigidBodyCcd,
RigidBodyIds,
RigidBodyColliders,
RigidBodyActivation,
RigidBodyChanges,
RigidBodyType,
RigidBodyDominance,
) {
let rb = self.build();
(
rb.rb_pos,
rb.rb_mprops,
rb.rb_vels,
rb.rb_damping,
rb.rb_forces,
rb.rb_ccd,
rb.rb_ids,
rb.rb_colliders,
rb.rb_activation,
rb.changes,
rb.rb_type,
rb.rb_dominance,
)
}
/// Build a new rigid-body with the parameters configured with this builder.
pub fn build(&self) -> RigidBody {
let mut rb = RigidBody::new();